Revision 6ebee82c
Moved all messages to the messages/ folder.
This meant changing a lot of includes and things.
scout/buttons/CMakeLists.txt | ||
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17 | 17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
18 | 18 |
|
19 | 19 |
#uncomment if you have defined messages |
20 |
rosbuild_genmsg() |
|
20 |
#rosbuild_genmsg()
|
|
21 | 21 |
#uncomment if you have defined services |
22 | 22 |
#rosbuild_gensrv() |
23 | 23 |
|
scout/buttons/manifest.xml | ||
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9 | 9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
10 | 10 |
<depend package="roscpp"/> |
11 | 11 |
<depend package="std_msgs"/> |
12 |
<depend package="messages"/> |
|
12 | 13 |
|
13 | 14 |
</package> |
14 | 15 |
|
scout/buttons/msg/button_event.msg | ||
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1 |
bool button1_pressed |
|
2 |
bool button2_pressed |
scout/buttons/src/buttons.cpp | ||
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69 | 69 |
/* Advertise that this serves the query_buttons service */ |
70 | 70 |
ros::NodeHandle n; |
71 | 71 |
|
72 |
ros::Publisher pub = n.advertise<buttons::button_event>("button_event",
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|
73 |
QUEUE_SIZE); |
|
72 |
ros::Publisher pub = n.advertise< ::messages::button_event>("button_event",
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|
73 |
QUEUE_SIZE);
|
|
74 | 74 |
|
75 | 75 |
/* Initialize hardware for buttons */ |
76 | 76 |
// Hardware init functions here |
scout/buttons/src/buttons.h | ||
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38 | 38 |
#ifndef _BUTTONS_H_ |
39 | 39 |
#define _BUTTONS_H_ |
40 | 40 |
|
41 |
#include "buttons/button_event.h"
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|
41 |
#include <messages/button_event.h>
|
|
42 | 42 |
|
43 | 43 |
#define QUEUE_SIZE 10 |
44 | 44 |
#define BUTTON_PRESSED 0x1 |
scout/encoders/CMakeLists.txt | ||
---|---|---|
19 | 19 |
#uncomment if you have defined messages |
20 | 20 |
#rosbuild_genmsg() |
21 | 21 |
#uncomment if you have defined services |
22 |
rosbuild_gensrv() |
|
22 |
#rosbuild_gensrv()
|
|
23 | 23 |
|
24 | 24 |
#common commands for building c++ executables and libraries |
25 | 25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
scout/encoders/manifest.xml | ||
---|---|---|
9 | 9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
10 | 10 |
<depend package="roscpp"/> |
11 | 11 |
<depend package="std_msgs"/> |
12 |
<depend package="messages"/> |
|
12 | 13 |
|
13 | 14 |
</package> |
14 | 15 |
|
scout/encoders/src/encoders.cpp | ||
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35 | 35 |
**/ |
36 | 36 |
|
37 | 37 |
#include <ros/ros.h> |
38 |
|
|
39 | 38 |
#include "encoders.h" |
40 | 39 |
|
41 | 40 |
/** |
... | ... | |
89 | 88 |
* @param req The request. The units that the response should be in. |
90 | 89 |
* @param res The response. The fields will be filled with values. |
91 | 90 |
*/ |
92 |
bool handle_encoders_query(encoders::query_encoders::Request &req,
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|
93 |
encoders::query_encoders::Response &res)
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|
91 |
bool handle_encoders_query(::messages::query_encoders::Request &req,
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92 |
::messages::query_encoders::Response &res)
|
|
94 | 93 |
{ |
95 | 94 |
/* Put index, velocity, and distance data in message */ |
96 | 95 |
res.fl_distance = encoder_fl.get_ticks(); |
scout/encoders/src/encoders.h | ||
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36 | 36 |
#define _ENCODERS_H_ |
37 | 37 |
|
38 | 38 |
#include <fstream> |
39 |
#include "encoders/query_encoders.h"
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39 |
#include <messages/query_encoders.h>
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|
40 | 40 |
|
41 | 41 |
class Encoder |
42 | 42 |
{ |
... | ... | |
51 | 51 |
int main(int argc, char **argv); |
52 | 52 |
|
53 | 53 |
/** @brief Responds to service to query encoder data **/ |
54 |
bool handle_encoders_query(encoders::query_encoders::Request &req,
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55 |
encoders::query_encoders::Response &res);
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54 |
bool handle_encoders_query(messages::query_encoders::Request &req,
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55 |
messages::query_encoders::Response &res);
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56 | 56 |
|
57 | 57 |
#endif |
scout/encoders/srv/query_encoders.srv | ||
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1 |
--- |
|
2 |
# All units are simply in encoder ticks since encoders were turned on. |
|
3 |
uint32 fl_distance |
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4 |
uint32 fr_distance |
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5 |
uint32 bl_distance |
|
6 |
uint32 br_distance |
scout/libscout/src/ButtonControl.cpp | ||
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60 | 60 |
* @brief Respond to button events |
61 | 61 |
* Processes message and updates private variables |
62 | 62 |
*/ |
63 |
void ButtonControl::event_callback(const buttons::button_event::ConstPtr& msg)
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|
63 |
void ButtonControl::event_callback(const ::messages::button_event::ConstPtr& msg)
|
|
64 | 64 |
{ |
65 | 65 |
button1_value = msg->button1_pressed; |
66 | 66 |
button2_value = msg->button2_pressed; |
scout/libscout/src/ButtonControl.h | ||
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36 | 36 |
* @author Leon Zhang |
37 | 37 |
**/ |
38 | 38 |
|
39 |
#include "buttons/button_event.h"
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|
39 |
#include "messages/button_event.h"
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|
40 | 40 |
#include "constants.h" |
41 | 41 |
|
42 | 42 |
#ifndef _LIBBUTTONS_H_ |
... | ... | |
49 | 49 |
ButtonControl(const ros::NodeHandle& libscout_node, |
50 | 50 |
std::string scoutname); |
51 | 51 |
|
52 |
void event_callback(const buttons::button_event::ConstPtr& msg);
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|
52 |
void event_callback(const messages::button_event::ConstPtr& msg);
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|
53 | 53 |
|
54 | 54 |
bool button1_is_pressed(); |
55 | 55 |
bool button2_is_pressed(); |
scout/libscout/src/EncodersControl.cpp | ||
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43 | 43 |
: node(libscout_node) |
44 | 44 |
{ |
45 | 45 |
query_client = |
46 |
node.serviceClient<encoders::query_encoders>(scoutname+"/query_encoders");
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|
46 |
node.serviceClient< ::messages::query_encoders>(scoutname+"/query_encoders");
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|
47 | 47 |
} |
48 | 48 |
|
49 | 49 |
/** |
... | ... | |
52 | 52 |
encoder_readings EncodersControl::query() |
53 | 53 |
{ |
54 | 54 |
// Set scan range |
55 |
encoders::query_encoders srv;
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55 |
::messages::query_encoders srv;
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|
56 | 56 |
|
57 | 57 |
encoder_readings cur_readings; |
58 | 58 |
|
scout/libscout/src/EncodersControl.h | ||
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35 | 35 |
#define _ENCODERS_CONTROL_H_ |
36 | 36 |
|
37 | 37 |
#include <ros/ros.h> |
38 |
#include <encoders/query_encoders.h>
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38 |
#include <messages/query_encoders.h>
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39 | 39 |
|
40 | 40 |
#include "constants.h" |
41 | 41 |
|
scout/libscout/src/LinesensorControl.cpp | ||
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45 | 45 |
: node(libscout_node) |
46 | 46 |
{ |
47 | 47 |
query_client = |
48 |
node.serviceClient<linesensor::query_linesensor>(scoutname+"/query_linesensor");
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|
48 |
node.serviceClient< ::messages::query_linesensor>(scoutname+"/query_linesensor");
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|
49 | 49 |
} |
50 | 50 |
|
51 | 51 |
/** |
... | ... | |
54 | 54 |
vector<uint32_t> LinesensorControl::query() |
55 | 55 |
{ |
56 | 56 |
// Set scan range |
57 |
linesensor::query_linesensor srv;
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57 |
::messages::query_linesensor srv;
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58 | 58 |
|
59 | 59 |
if (!query_client.call(srv)) |
60 | 60 |
{ |
scout/libscout/src/LinesensorControl.h | ||
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35 | 35 |
#define _LINESENSOR_CONTROL_H_ |
36 | 36 |
|
37 | 37 |
#include <ros/ros.h> |
38 |
#include <linesensor/query_linesensor.h>
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38 |
#include <messages/query_linesensor.h>
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39 | 39 |
|
40 | 40 |
#include "constants.h" |
41 | 41 |
|
scout/libscout/src/MotorControl.cpp | ||
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50 | 50 |
: node(libscout_node) |
51 | 51 |
{ |
52 | 52 |
set_motors_pub = |
53 |
node.advertise<motors::set_motors>(scoutname + "/set_motors",
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53 |
node.advertise< ::messages::set_motors>(scoutname + "/set_motors",
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54 | 54 |
QUEUE_SIZE, true); |
55 | 55 |
query_motors_client = |
56 |
node.serviceClient<motors::query_motors>(scoutname + "/query_motors");
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|
56 |
node.serviceClient< ::messages::query_motors>(scoutname + "/query_motors");
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57 | 57 |
} |
58 | 58 |
|
59 | 59 |
MotorControl::~MotorControl() |
... | ... | |
125 | 125 |
{ |
126 | 126 |
check_which_ok(which); |
127 | 127 |
|
128 |
motors::set_motors msg;
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128 |
::messages::set_motors msg;
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129 | 129 |
|
130 | 130 |
|
131 | 131 |
/* Tell the motors node which motors need to be updated */ |
... | ... | |
223 | 223 |
*/ |
224 | 224 |
float MotorControl::query(int which) |
225 | 225 |
{ |
226 |
motors::query_motors srv;
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226 |
::messages::query_motors srv;
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227 | 227 |
if(query_motors_client.call(srv)) |
228 | 228 |
{ |
229 | 229 |
switch(which) |
scout/libscout/src/MotorControl.h | ||
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39 | 39 |
#define _MOTOR_CONTROL_H_ |
40 | 40 |
|
41 | 41 |
#include <ros/ros.h> |
42 |
#include <motors/query_motors.h>
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43 |
#include <motors/set_motors.h>
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42 |
#include <messages/query_motors.h>
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43 |
#include <messages/set_motors.h>
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44 | 44 |
|
45 | 45 |
#include "constants.h" |
46 | 46 |
|
scout/linesensor/CMakeLists.txt | ||
---|---|---|
19 | 19 |
#uncomment if you have defined messages |
20 | 20 |
#rosbuild_genmsg() |
21 | 21 |
#uncomment if you have defined services |
22 |
rosbuild_gensrv() |
|
22 |
#rosbuild_gensrv()
|
|
23 | 23 |
|
24 | 24 |
#common commands for building c++ executables and libraries |
25 | 25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
scout/linesensor/manifest.xml | ||
---|---|---|
10 | 10 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
11 | 11 |
<depend package="roscpp"/> |
12 | 12 |
<depend package="std_msgs"/> |
13 |
<depend package="messages"/> |
|
13 | 14 |
|
14 | 15 |
</package> |
15 | 16 |
|
scout/linesensor/srv/query_linesensor.srv | ||
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1 |
--- |
|
2 |
# 10-bit unsigned integers, 0 is perfectly white. |
|
3 |
uint32[] readings |
scout/motors/CMakeLists.txt | ||
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17 | 17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
18 | 18 |
|
19 | 19 |
#uncomment if you have defined messages |
20 |
rosbuild_genmsg() |
|
20 |
#rosbuild_genmsg()
|
|
21 | 21 |
#uncomment if you have defined services |
22 |
rosbuild_gensrv() |
|
22 |
#rosbuild_gensrv()
|
|
23 | 23 |
|
24 | 24 |
#common commands for building c++ executables and libraries |
25 | 25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
scout/motors/manifest.xml | ||
---|---|---|
9 | 9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
10 | 10 |
<depend package="roscpp"/> |
11 | 11 |
<depend package="std_msgs"/> |
12 |
<depend package="messages"/> |
|
12 | 13 |
|
13 | 14 |
<export> |
14 | 15 |
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/> |
scout/motors/msg/set_motors.msg | ||
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1 |
# Set these to true if the motor should be updated |
|
2 |
bool fl_set |
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3 |
bool fr_set |
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4 |
bool bl_set |
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5 |
bool br_set |
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6 |
bool teleop_ON |
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7 |
|
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8 |
# The absolute motor speeds to set |
|
9 |
int8 fl_speed |
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10 |
int8 fr_speed |
|
11 |
int8 bl_speed |
|
12 |
int8 br_speed |
|
13 |
|
|
14 |
int8 MAX_SPEED = 100 |
|
15 |
int8 MIN_SPEED = -100 |
scout/motors/src/motors.cpp | ||
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154 | 154 |
* @param msg The message from the set_motors topic, containing speeds and |
155 | 155 |
* motor configuration settings. |
156 | 156 |
*/ |
157 |
void motors_set(const motors::set_motors::ConstPtr& msg)
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|
157 |
void motors_set(const ::messages::set_motors::ConstPtr& msg)
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|
158 | 158 |
{ |
159 | 159 |
if(msg->fl_set) |
160 | 160 |
{ |
... | ... | |
184 | 184 |
* @param req The request. The only field is the units requested. |
185 | 185 |
* @param res The response. The fields will be filled with values. |
186 | 186 |
*/ |
187 |
bool motors_query(motors::query_motors::Request &req,
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|
188 |
motors::query_motors::Response &res)
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|
187 |
bool motors_query(::messages::query_motors::Request &req,
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|
188 |
::messages::query_motors::Response &res)
|
|
189 | 189 |
{ |
190 | 190 |
res.fl_speed = motor_fl.get_speed(); |
191 | 191 |
res.fr_speed = motor_fr.get_speed(); |
scout/motors/src/motors.h | ||
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40 | 40 |
#define _MOTORS_H_ |
41 | 41 |
|
42 | 42 |
#include <fstream> |
43 |
#include <motors/set_motors.h>
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44 |
#include <motors/query_motors.h>
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43 |
#include <messages/set_motors.h>
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44 |
#include <messages/query_motors.h>
|
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45 | 45 |
|
46 | 46 |
#define QUEUE_SIZE 10 |
47 | 47 |
|
... | ... | |
49 | 49 |
int main(int argc, char **argv); |
50 | 50 |
|
51 | 51 |
/** @brief Responds to topic to set motor speeds and configs. **/ |
52 |
void motors_set(const motors::set_motors::ConstPtr& msg);
|
|
52 |
void motors_set(const messages::set_motors::ConstPtr& msg);
|
|
53 | 53 |
|
54 | 54 |
/** @brief Responds to service to query motor speeds. **/ |
55 |
bool motors_query(motors::query_motors::Request &req,
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56 |
motors::query_motors::Response &res);
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|
55 |
bool motors_query(messages::query_motors::Request &req,
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|
56 |
messages::query_motors::Response &res);
|
|
57 | 57 |
|
58 | 58 |
class Motor |
59 | 59 |
{ |
scout/motors/srv/query_motors.srv | ||
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1 |
--- |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
scout/power/CMakeLists.txt | ||
---|---|---|
17 | 17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
18 | 18 |
|
19 | 19 |
#uncomment if you have defined messages |
20 |
rosbuild_genmsg() |
|
20 |
#rosbuild_genmsg()
|
|
21 | 21 |
#uncomment if you have defined services |
22 |
rosbuild_gensrv() |
|
22 |
#rosbuild_gensrv()
|
|
23 | 23 |
|
24 | 24 |
#common commands for building c++ executables and libraries |
25 | 25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
scout/power/manifest.xml | ||
---|---|---|
9 | 9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
10 | 10 |
<depend package="roscpp"/> |
11 | 11 |
<depend package="std_msgs"/> |
12 |
<depend package="messages"/> |
|
12 | 13 |
|
13 | 14 |
</package> |
14 | 15 |
|
scout/power/msg/power_state_changed.msg | ||
---|---|---|
1 |
#32-bit integer with current voltage info |
|
2 |
uint32 voltage |
|
3 |
#power percentage [0-100] |
|
4 |
uint32 percentage |
|
5 |
#current draw in mW |
|
6 |
uint32 draw |
|
7 |
#are we on external power? |
|
8 |
bool externalpower |
|
9 |
#is the battery at a warning state? |
|
10 |
bool warning |
|
11 |
#is the battery at a critical state? |
|
12 |
bool critical |
|
13 |
|
scout/power/src/power.cpp | ||
---|---|---|
71 | 71 |
* @param req The request. There are no fields |
72 | 72 |
* @param res The response. The fields will be filled with values. |
73 | 73 |
*/ |
74 |
bool power_query(power::query_power::Request &req,
|
|
75 |
power::query_power::Response &res)
|
|
74 |
bool power_query(::messages::query_power::Request &req,
|
|
75 |
::messages::query_power::Response &res)
|
|
76 | 76 |
{ |
77 | 77 |
res.voltage = voltage; |
78 | 78 |
res.percentage = percentage; |
scout/power/src/power.h | ||
---|---|---|
37 | 37 |
#ifndef _POWER_H_ |
38 | 38 |
#define _POWER_H_ |
39 | 39 |
|
40 |
#include "power/query_power.h"
|
|
40 |
#include <messages/query_power.h>
|
|
41 | 41 |
|
42 | 42 |
/** @brief Initialize the power module and driver. **/ |
43 | 43 |
int main(int argc, char **argv); |
44 | 44 |
|
45 | 45 |
/** @brief Responds to service to query power informatio **/ |
46 |
bool power_query(power::query_power::Request &req,
|
|
47 |
power::query_power::Response &res);
|
|
46 |
bool power_query(messages::query_power::Request &req,
|
|
47 |
messages::query_power::Response &res);
|
|
48 | 48 |
|
49 | 49 |
/** @breif Function that sends the power_state_changed message **/ |
50 | 50 |
void send_power_state_changed(); |
scout/power/srv/query_power.srv | ||
---|---|---|
1 |
--- |
|
2 |
#32-bit integer with current voltage info |
|
3 |
uint32 voltage |
|
4 |
#power percentage [0-100] |
|
5 |
uint32 percentage |
|
6 |
#current draw in mW |
|
7 |
uint32 draw |
|
8 |
#are we on external power? |
|
9 |
bool externalpower |
|
10 |
#is the battery at a warning state? |
|
11 |
bool warning |
|
12 |
#is the battery at a critical state? |
|
13 |
bool critical |
scout/scoutsim/manifest.xml | ||
---|---|---|
13 | 13 |
<depend package="roslib"/> |
14 | 14 |
<depend package="rosconsole"/> |
15 | 15 |
<depend package="std_srvs"/> |
16 |
<depend package="motors" /> |
|
17 |
<depend package="encoders" /> |
|
18 |
<depend package="linesensor" /> |
|
19 | 16 |
<depend package="geometry_msgs" /> |
20 | 17 |
<depend package="messages"/> |
21 | 18 |
|
... | ... | |
34 | 31 |
<depend package="roslib"/> |
35 | 32 |
<depend package="rosconsole"/> |
36 | 33 |
<depend package="std_srvs"/> |
37 |
<depend package="motors" /> |
|
38 |
<depend package="encoders" /> |
|
39 | 34 |
<depend package="geometry_msgs" /> |
40 | 35 |
<depend package="messages"/> |
41 | 36 |
|
scout/scoutsim/src/scout.cpp | ||
---|---|---|
134 | 134 |
* request. |
135 | 135 |
* @todo Use "callback" in all callback function names? Or remove? |
136 | 136 |
*/ |
137 |
void Scout::setMotors(const motors::set_motors::ConstPtr& msg)
|
|
137 |
void Scout::setMotors(const ::messages::set_motors::ConstPtr& msg)
|
|
138 | 138 |
{ |
139 | 139 |
last_command_time = ros::WallTime::now(); |
140 | 140 |
|
... | ... | |
244 | 244 |
return true; |
245 | 245 |
} |
246 | 246 |
|
247 |
bool Scout::query_encoders_callback(encoders::query_encoders::Request&,
|
|
248 |
encoders::query_encoders::Response& res)
|
|
247 |
bool Scout::query_encoders_callback(::messages::query_encoders::Request&,
|
|
248 |
::messages::query_encoders::Response& res)
|
|
249 | 249 |
{ |
250 | 250 |
res.fl_distance = fl_ticks; |
251 | 251 |
res.fr_distance = fr_ticks; |
... | ... | |
255 | 255 |
return true; |
256 | 256 |
} |
257 | 257 |
|
258 |
bool Scout::query_linesensor_callback(linesensor::query_linesensor::Request&,
|
|
259 |
linesensor::query_linesensor::Response& res)
|
|
258 |
bool Scout::query_linesensor_callback(::messages::query_linesensor::Request&,
|
|
259 |
::messages::query_linesensor::Response& res)
|
|
260 | 260 |
{ |
261 | 261 |
res.readings = linesensor_readings; |
262 | 262 |
|
scout/scoutsim/src/scout.h | ||
---|---|---|
52 | 52 |
#include <vector> |
53 | 53 |
#include <boost/shared_ptr.hpp> |
54 | 54 |
|
55 |
#include <motors/set_motors.h>
|
|
56 |
#include <encoders/query_encoders.h>
|
|
57 |
#include <linesensor/query_linesensor.h>
|
|
55 |
#include <messages/set_motors.h>
|
|
56 |
#include <messages/query_encoders.h>
|
|
57 |
#include <messages/query_linesensor.h>
|
|
58 | 58 |
#include <messages/sonar_distance.h> |
59 | 59 |
#include <messages/sonar_toggle.h> |
60 | 60 |
#include <messages/sonar_set_scan.h> |
... | ... | |
124 | 124 |
|
125 | 125 |
private: |
126 | 126 |
float absolute_to_mps(int absolute_speed); |
127 |
void setMotors(const motors::set_motors::ConstPtr& msg);
|
|
127 |
void setMotors(const messages::set_motors::ConstPtr& msg);
|
|
128 | 128 |
bool setPenCallback(scoutsim::SetPen::Request&, |
129 | 129 |
scoutsim::SetPen::Response&); |
130 |
bool query_encoders_callback(encoders::query_encoders::Request&,
|
|
131 |
encoders::query_encoders::Response&);
|
|
132 |
bool query_linesensor_callback(linesensor::query_linesensor::Request&,
|
|
133 |
linesensor::query_linesensor::Response&);
|
|
130 |
bool query_encoders_callback(messages::query_encoders::Request&,
|
|
131 |
messages::query_encoders::Response&);
|
|
132 |
bool query_linesensor_callback(messages::query_linesensor::Request&,
|
|
133 |
messages::query_linesensor::Response&);
|
|
134 | 134 |
bool handle_sonar_toggle(messages::sonar_toggle::Request &req, |
135 | 135 |
messages::sonar_toggle::Response &res); |
136 | 136 |
bool handle_sonar_set_scan(messages::sonar_set_scan::Request &req, |
137 |
messages::sonar_set_scan::Response &res);
|
|
137 |
messages::sonar_set_scan::Response &res); |
|
138 | 138 |
unsigned int rgb_to_grey(unsigned char r, |
139 | 139 |
unsigned char g, |
140 | 140 |
unsigned char b); |
scout/scoutsim/src/scout_constants.h | ||
---|---|---|
48 | 48 |
#ifndef _SCOUTSIM_SCOUT_CONSTANTS_ |
49 | 49 |
#define _SCOUTSIM_SCOUT_CONSTANTS_ |
50 | 50 |
|
51 |
#include <motors/set_motors.h>
|
|
51 |
#include <messages/set_motors.h>
|
|
52 | 52 |
|
53 | 53 |
/// TODO put these in a utility file somewhere? |
54 | 54 |
#define min(x,y) ((x < y) ? x : y) |
... | ... | |
57 | 57 |
namespace scoutsim |
58 | 58 |
{ |
59 | 59 |
// Maximum speed which will be sent to scoutsim in absolute units |
60 |
const int MAX_ABSOLUTE_SPEED = motors::set_motors::MAX_SPEED;
|
|
61 |
const int MIN_ABSOLUTE_SPEED = motors::set_motors::MIN_SPEED;
|
|
60 |
const int MAX_ABSOLUTE_SPEED = messages::set_motors::MAX_SPEED;
|
|
61 |
const int MIN_ABSOLUTE_SPEED = messages::set_motors::MIN_SPEED;
|
|
62 | 62 |
|
63 | 63 |
// Speed in m/s corresponding to maximum absolute speed |
64 | 64 |
const float MAX_SPEED_MPS = 1.0; |
scout/scoutsim/src/sim_frame.cpp | ||
---|---|---|
132 | 132 |
teleop_r_speed = 0; |
133 | 133 |
teleop_scoutname = "scout1"; |
134 | 134 |
|
135 |
teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000);
|
|
135 |
teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000);
|
|
136 | 136 |
|
137 | 137 |
ROS_INFO("Starting scoutsim with node name %s", |
138 | 138 |
ros::this_node::getName().c_str()) ; |
... | ... | |
241 | 241 |
{ |
242 | 242 |
std::stringstream ss; |
243 | 243 |
ss << "/" << req.scout_name << "/set_motors"; |
244 |
teleop_pub = nh.advertise<motors::set_motors>(ss.str(), 1000);
|
|
244 |
teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
|
|
245 | 245 |
teleop_scoutname = req.scout_name.c_str(); |
246 | 246 |
ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
247 | 247 |
|
... | ... | |
532 | 532 |
break; |
533 | 533 |
} |
534 | 534 |
|
535 |
motors::set_motors msg;
|
|
535 |
::messages::set_motors msg;
|
|
536 | 536 |
msg.fl_set = true; |
537 | 537 |
msg.fr_set = true; |
538 | 538 |
msg.bl_set = true; |
scout/scoutsim/src/sim_frame.h | ||
---|---|---|
61 | 61 |
#include <scoutsim/SetSonarViz.h> |
62 | 62 |
#include <scoutsim/SetGhost.h> |
63 | 63 |
#include <scoutsim/SetTeleop.h> |
64 |
#include <motors/set_motors.h>
|
|
64 |
#include <messages/set_motors.h>
|
|
65 | 65 |
#include <map> |
66 | 66 |
|
67 | 67 |
#include "scout.h" |
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